HumanoidControl/HumanoidControl_Free
HumanoidControl/HumanoidControl_Free
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Merge branch 'main' of http://gitlab.passervr.com/passer/unity/humanoidcontrol4_free

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This commit is contained in:
Pascal Serrarens 2023-05-08 17:32:30 +02:00
commit ba8d8cf6e0
11 changed files with 70 additions and 43 deletions
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6
Editor/HumanoidControl/Targets/HandTarget_Editor.cs
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@ -145,8 +145,6 @@ namespace Passer.Humanoid {
InteractionPointerButton(handTarget);
serializedObject.ApplyModifiedProperties();
//serializedObject.Update();
//serializedObject.ApplyModifiedProperties();
}
public static HandTarget Inspector(HandTarget handTarget, string name) {
@ -439,8 +437,8 @@ namespace Passer.Humanoid {
if (showSettings) {
EditorGUI.indentLevel++;
// Cannot use serializedPropery because showRealObjects is a getter/setter
bool showRealObjects = EditorGUILayout.Toggle("Show Real Objects", handTarget.showRealObjects);
SerializedProperty showObjectsProp = serializedObject.FindProperty("_showRealObjects");
bool showRealObjects = EditorGUILayout.Toggle("Show Real Objects", showObjectsProp.boolValue);
if (showRealObjects != handTarget.showRealObjects) {
handTarget.showRealObjects = showRealObjects;
handTarget.ShowSensors(showRealObjects, true);

12
Editor/Tools/Handle_Editor.cs
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@ -4,6 +4,7 @@ using UnityEngine;
namespace Passer {
using Humanoid;
[CanEditMultipleObjects]
[CustomEditor(typeof(Handle), true)]
public class Handle_Editor : Editor {
@ -42,9 +43,14 @@ namespace Passer {
//if (HumanoidPreferences.help)
// EditorGUILayout.HelpBox("Component to specify behaviour when grabbing the GameObject", MessageType.None);
handle.hand = (Handle.Hand)EditorGUILayout.EnumPopup("Hand", handle.hand);
handle.grabType = (Handle.GrabType)EditorGUILayout.EnumPopup("Grab type", handle.grabType);
handle.range = EditorGUILayout.FloatField("Range", handle.range);
SerializedProperty handProp = serializedObject.FindProperty(nameof(Handle.hand));
handProp.intValue = (int)(Handle.Hand)EditorGUILayout.EnumPopup("Hand", (Handle.Hand)handProp.intValue);
SerializedProperty grabTypeProp = serializedObject.FindProperty(nameof(Handle.grabType));
grabTypeProp.intValue = (int)(Handle.GrabType)EditorGUILayout.EnumPopup("Grab type", (Handle.GrabType)grabTypeProp.intValue);
SerializedProperty rangeProp = serializedObject.FindProperty(nameof(Handle.range));
rangeProp.floatValue = EditorGUILayout.FloatField("Range", rangeProp.floatValue);
HandPoseInspector(handle);
CheckHandTarget(handle);

14
Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRController.cs
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@ -11,6 +11,12 @@ namespace Passer.Tracking {
protected XRNode xrNode;
protected enum LoadedDeviceType {
None,
Oculus,
OpenXR,
}
protected LoadedDeviceType loadedDevice = LoadedDeviceType.None;
public GameObject model;
#region Manage
@ -130,6 +136,12 @@ namespace Passer.Tracking {
InputDevices.deviceConnected += OnDeviceConnected;
InputDevices.deviceDisconnected += OnDeviceDisconnected;
if (XRSettings.loadedDeviceName == "oculus display")
loadedDevice = LoadedDeviceType.Oculus;
else if (XRSettings.loadedDeviceName == "OpenXR Display")
loadedDevice = LoadedDeviceType.OpenXR;
}
/// <summary>
@ -188,6 +200,8 @@ namespace Passer.Tracking {
Quaternion rotation;
if (isTracked && device.TryGetFeatureValue(CommonUsages.deviceRotation, out rotation)) {
if (loadedDevice == LoadedDeviceType.OpenXR)
rotation *= Quaternion.AngleAxis(45, Vector3.right);
transform.rotation = trackerTransform.rotation * rotation;
rotationConfidence = 1;
status = Tracker.Status.Tracking;

4
Runtime/HumanoidControl/Scripts/HumanoidControl.cs
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@ -470,7 +470,7 @@ namespace Passer.Humanoid {
OnChangeAvatarEvent?.Invoke();
}
public void InitializeAvatar() {
public virtual void InitializeAvatar() {
avatarRig = GetAvatar(this.gameObject);
// Move the animator controller to the targets rig for proper animation support
@ -2085,7 +2085,7 @@ namespace Passer.Humanoid {
hitNormal = Vector3.zero;
}
public bool IsMyRigidbody(Rigidbody rigidbody) {
public virtual bool IsMyRigidbody(Rigidbody rigidbody) {
return
rigidbody != null && (
rigidbody == humanoidRigidbody ||

7
Runtime/HumanoidControl/Scripts/Interaction/HandInteraction.cs
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@ -114,7 +114,7 @@ namespace Passer.Humanoid {
}
}
private void DeterminePalmPosition() {
protected void DeterminePalmPosition() {
if (hand.bone.transform == null)
return;
@ -658,13 +658,16 @@ namespace Passer.Humanoid {
return false;
}
// We need to determine this here because the kinematic state
// can change when grabbing
grabbedKinematicRigidbody = objRigidbody.isKinematic;
if (objRigidbody.isKinematic)
GrabStaticWithoutHandle(objRigidbody.gameObject);
else
GrabRigidbodyParenting(objRigidbody);
grabbedRigidbody = true;
grabbedKinematicRigidbody = objRigidbody.isKinematic;
return true;
}

24
Runtime/HumanoidControl/Scripts/Physics/HandPhysics.cs
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@ -23,7 +23,7 @@ namespace Passer.Humanoid {
}
[HideInInspector]
protected Rigidbody handRigidbody;
public Rigidbody handRigidbody;
protected virtual void Initialize() {
if (handTarget == null)
@ -186,7 +186,7 @@ namespace Passer.Humanoid {
#region Force
protected Vector3 CalculateForce() {
protected virtual Vector3 CalculateForce() {
/*
//Vector3 locationDifference = handTarget.stretchlessTarget.position - handTarget.handRigidbody.position;
//Debug.DrawLine(handTarget.stretchlessTarget.position, handTarget.handRigidbody.position);
@ -204,7 +204,7 @@ namespace Passer.Humanoid {
return force;
}
public Vector3 CalculateForce(Vector3 position, Vector3 targetPosition, bool damping = false) {
public virtual Vector3 CalculateForce(Vector3 position, Vector3 targetPosition, bool damping = false) {
Vector3 force = (targetPosition - position) * handTarget.strength;
if (damping)
force += CalculateForceDamper();
@ -212,9 +212,9 @@ namespace Passer.Humanoid {
}
private const float damping = 12;
private float lastDistanceTime;
private Vector3 lastDistanceToTarget;
private Vector3 CalculateForceDamper() {
protected float lastDistanceTime;
protected Vector3 lastDistanceToTarget;
protected virtual Vector3 CalculateForceDamper() {
Vector3 distanceToTarget = handTarget.hand.bone.transform.position - handTarget.hand.target.transform.position;
float deltaTime = Time.fixedTime - lastDistanceTime;
@ -237,7 +237,7 @@ namespace Passer.Humanoid {
return damper;
}
protected void ApplyForce(Vector3 force) {
protected virtual void ApplyForce(Vector3 force) {
if (float.IsNaN(force.magnitude))
return;
@ -266,7 +266,7 @@ namespace Passer.Humanoid {
#endif
}
protected void ApplyForceAtPosition(Vector3 force, Vector3 position) {
protected virtual void ApplyForceAtPosition(Vector3 force, Vector3 position) {
if (float.IsNaN(force.magnitude))
return;
@ -280,7 +280,7 @@ namespace Passer.Humanoid {
#region Torque
protected Vector3 CalculateTorque() {
protected virtual Vector3 CalculateTorque() {
Quaternion sollRotation = handTarget.hand.target.transform.rotation * handTarget.hand.target.toBoneRotation;
Quaternion istRotation = handTarget.hand.bone.transform.rotation;
Quaternion dRot = sollRotation * Quaternion.Inverse(istRotation);
@ -295,7 +295,7 @@ namespace Passer.Humanoid {
return torque;
}
protected Vector3 CalculateWristTorque() {
protected virtual Vector3 CalculateWristTorque() {
//Vector3 wristTension = target.GetWristTension();
// Not stable
@ -311,7 +311,7 @@ namespace Passer.Humanoid {
ApplyTorqueAtPosition(torque, handTarget.hand.bone.transform.position);
}
protected void ApplyTorqueAtPosition(Vector3 torque, Vector3 posToApply) {
protected virtual void ApplyTorqueAtPosition(Vector3 torque, Vector3 posToApply) {
if (float.IsNaN(torque.magnitude))
return;
@ -677,7 +677,7 @@ namespace Passer.Humanoid {
handTarget.grabbedObject.SendMessage("OnCollisionEnter", collision, SendMessageOptions.DontRequireReceiver);
}
public void OnCollisionStay(Collision collision) {
public virtual void OnCollisionStay(Collision collision) {
if (collision.rigidbody != null && collision.rigidbody.gameObject == handTarget.grabbedObject)
// Don't collide with the things you are holding
return;

20
Runtime/HumanoidControl/Scripts/Physics/HandSocket.cs
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@ -13,17 +13,17 @@ namespace Passer.Humanoid {
/// This is the HandTarget of the hand to which the socket is attached
public HandTarget handTarget;
protected override void MoveHandleToSocket(Transform socketTransform, Handle handle) {
DebugLog("MoveHandleToHand");
//protected override void MoveHandleToSocket(Transform socketTransform, Handle handle) {
// DebugLog("MoveHandleToHand");
Transform handleTransform = handle.GetComponent<Transform>();
Rigidbody handleRigidbody = handle.GetComponentInParent<Rigidbody>();
if (handleRigidbody != null)
handleTransform = handleRigidbody.transform;
// Transform handleTransform = handle.GetComponent<Transform>();
// Rigidbody handleRigidbody = handle.GetComponentInParent<Rigidbody>();
// if (handleRigidbody != null)
// handleTransform = handleRigidbody.transform;
handleTransform.rotation = handle.RotationTo(socketTransform.rotation) * handleTransform.rotation;
handleTransform.position += handle.TranslationTo(socketTransform.position);
}
// handleTransform.rotation = handle.RotationTo(socketTransform.rotation) * handleTransform.rotation;
// handleTransform.position += handle.TranslationTo(socketTransform.position);
//}
protected override void MoveSocketToHandle(Transform socketTransform, Handle handle) {
DebugLog("MoveHandToHandle");
@ -155,7 +155,7 @@ namespace Passer.Humanoid {
DestroyedJoints destroyedJoints = objRigidbody.GetComponent<DestroyedJoints>();
// Check if we are grabbing a hand
BasicHandPhysics handPhysics = objRigidbody.GetComponent<BasicHandPhysics>();
BasicHandPhysics handPhysics = objRigidbody.GetComponentInParent<BasicHandPhysics>();
if (handPhysics != null) { // We are grabbing a hand
if (thisRigidbody == null) {
DebugLog("Cannot attach to hand because this handRigidbody is not present");

7
Runtime/HumanoidControl/Scripts/Pose/BonePose.cs
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@ -40,17 +40,18 @@ namespace Passer.Humanoid {
HumanoidTarget.TargetedBone referenceBone = humanoid.GetBone(referenceBoneRef.boneId);
if (referenceBoneRef.boneId != Bone.None && referenceBone.target.transform != null) {
referencePosition = referenceBone.target.transform.position;
referenceRotation = referenceBone.bone.targetRotation;
referenceRotation = referenceBone.target.transform.rotation; //referenceBone.bone.targetRotation;
referenceScale = referenceBone.target.transform.lossyScale;
}
else {
referencePosition = humanoid.transform.position;
referencePosition = targetedBone.TargetBasePosition(); // humanoid.transform.position;
referenceRotation = humanoid.transform.rotation;
referenceScale = humanoid.transform.lossyScale;
}
if (setTranslation)
targetedBone.target.transform.position = targetedBone.TargetBasePosition() + Vector3.Lerp(Vector3.zero, referenceRotation * translation, value);
//targetedBone.target.transform.position = targetedBone.TargetBasePosition() + Vector3.Lerp(Vector3.zero, referenceRotation * translation, value);
targetedBone.target.transform.position = referencePosition + Vector3.Lerp(Vector3.zero, referenceRotation * translation, value);
if (setRotation)
targetedBone.target.transform.rotation = Quaternion.Slerp(targetedBone.TargetBaseRotation(), referenceRotation * rotation, value);
if (setScale)

2
Runtime/HumanoidControl/Scripts/Targets/HandTarget.cs
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@ -650,7 +650,7 @@ namespace Passer.Humanoid {
#endregion
private void InitSubTargets() {
protected void InitSubTargets() {
//foreach (TargetedBone subTarget in subTargets)
// subTarget.Init();
shoulder.Init();

1
Runtime/HumanoidControl/Scripts/Targets/Target.cs
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@ -17,6 +17,7 @@ namespace Passer {
/// </summary>
public abstract class Target : MonoBehaviour {
[SerializeField]
protected bool _showRealObjects = true;
/// <summary>
/// show the target meshes

16
Runtime/Tools/Physics/HybridPhysics.cs
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@ -90,7 +90,7 @@ namespace Passer {
}
virtual protected void UpdateKinematicRigidbody() {
if (mode == PhysicsMode.NonKinematic ||
if (mode == PhysicsMode.NonKinematic ||
thisRigidbody.mass > kinematicMass ||
thisRigidbody.GetComponent<Joint>() != null
) {
@ -183,7 +183,7 @@ namespace Passer {
// The sweeptests fail quite often...
//RaycastHit hit;
//if (!thisRigidbody.SweepTest(target.transform.position - thisRigidbody.position, out hit))
hasCollided = false;
hasCollided = false;
}
}
@ -581,8 +581,10 @@ namespace Passer {
if (colliders == null)
return;
foreach (Collider c in colliders)
c.isTrigger = false;
foreach (Collider c in colliders) {
if (c != null)
c.isTrigger = false;
}
}
/// <summary>
@ -597,8 +599,10 @@ namespace Passer {
if (colliders == null)
return;
foreach (Collider c in colliders)
c.isTrigger = false;
foreach (Collider c in colliders) {
if (c != null)
c.isTrigger = false;
}
}
#endregion